#ifndef CORRESPOND_H
#define CORRESPOND_H


#include <pcl/point_types.h>
#include <pcl/correspondence.h>

using namespace std;
using namespace pcl;


void findCorrespondencesFPFH (
        PointCloud<FPFHSignature33>::Ptr source,
        PointCloud<FPFHSignature33>::Ptr target,
        CorrespondencesPtr correspondences);




void filterCorrespondencesSAC ( PointCloud<PointXYZI>::Ptr source_keypoints,
                                PointCloud<PointXYZI>::Ptr target_keypoints,
                                CorrespondencesPtr correspondences,
                                double inlierThreshold);


void addCorrespondencesToResult ( CorrespondencesPtr toAdd,
                                  CorrespondencesPtr result);

void removeClones( CorrespondencesPtr input);
#endif
